TI官方代码中的任务状态机

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TI官方例程代码中的任务状态机用于处理各种不同的非环路控制任务，这种状态机编程对于多任务管理比较有用

// Timing sync for background loops// Timer period definitions found in PeripheralHeaderIncludes.hCpuTimer0Regs.PRD.all =  mSec1;// A tasks,200000,1ms，CPU frequency=200MHzCpuTimer1Regs.PRD.all =  mSec10;// B tasks，2000000,10msCpuTimer2Regs.PRD.all =  mSec100;// C tasks，20000000,100ms// Tasks State-machine initAlpha_State_Ptr = &A0;

然后在main函数里的while循环中写下如下代码：

//--------------------------------- FRAMEWORK -------------------------------------for(;;)  //infinite loop{// State machine entry & exit point//===========================================================(*Alpha_State_Ptr)();// jump to an Alpha state (A0,B0,...)//===========================================================}

在main函数之外有：

//--------------------------------- FRAMEWORK -------------------------------------void A0(void){// loop rate synchronizer for A-tasksif(CpuTimer0Regs.TCR.bit.TIF == 1){CpuTimer0Regs.TCR.bit.TIF = 1;// clear flag//-----------------------------------------------------------(*A_Task_Ptr)();// jump to an A Task (A1,A2,A3,...)//-----------------------------------------------------------}Alpha_State_Ptr = &B0;// Comment out to allow only A tasks}void B0(void){// loop rate synchronizer for B-tasksif(CpuTimer1Regs.TCR.bit.TIF == 1){CpuTimer1Regs.TCR.bit.TIF = 1;// clear flag//-----------------------------------------------------------(*B_Task_Ptr)();// jump to a B Task (B1,B2,B3,...)//-----------------------------------------------------------}Alpha_State_Ptr = &C0;// Allow C state tasks}void C0(void){// loop rate synchronizer for C-tasksif(CpuTimer2Regs.TCR.bit.TIF == 1){CpuTimer2Regs.TCR.bit.TIF = 1;// clear flag//-----------------------------------------------------------(*C_Task_Ptr)();// jump to a C Task (C1,C2,C3,...)//-----------------------------------------------------------}Alpha_State_Ptr = &A0;// Back to State A0}

任务A：

void A1(void){        do something//the next time CpuTimer0 'counter' reaches Period value go to A2A_Task_Ptr = &A2;}void A2(void){        do something//the next time CpuTimer0 'counter' reaches Period value go to A3A_Task_Ptr = &A3;}void A3(void){        do something//the next time CpuTimer0 'counter' reaches Period value go to A4A_Task_Ptr = &A4;}void A4(void){        do nothing//the next time CpuTimer0 'counter' reaches Period value go to A1A_Task_Ptr = &A1;}

任务B和C的细分也类似于A，同上

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